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Remove using namespace rclcpp from public headers; qualify rclcpp types #2

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Merged
mmmarinho merged 1 commit into from
Sep 24, 2026
Merged

Remove using namespace rclcpp from public headers; qualify rclcpp types #2

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13 changes: 6 additions & 7 deletions include/sas_robot_kinematics/sas_robot_kinematics_client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,6 @@
#include <sas_core/sas_object.hpp>
#include <sas_msgs/msg/float64.hpp>

using namespace rclcpp;
using namespace DQ_robotics;

namespace sas
Expand All @@ -49,18 +48,18 @@ namespace sas
class RobotKinematicsClient: private sas::Object
{
private:
std::shared_ptr<Node> node_;
std::shared_ptr<rclcpp::Node> node_;

std::atomic_bool enabled_;
const std::string topic_prefix_;

Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr subscriber_pose_;
rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr subscriber_pose_;
DQ pose_;
Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr subscriber_reference_frame_;
rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr subscriber_reference_frame_;
DQ reference_frame_;

Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr publisher_desired_pose_;
Publisher<sas_msgs::msg::Float64>::SharedPtr publisher_desired_interpolator_speed_;
rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr publisher_desired_pose_;
rclcpp::Publisher<sas_msgs::msg::Float64>::SharedPtr publisher_desired_interpolator_speed_;

void _callback_pose(const geometry_msgs::msg::PoseStamped& msg);
void _callback_reference_frame(const geometry_msgs::msg::PoseStamped& msg);
Expand All @@ -79,7 +78,7 @@ class RobotKinematicsClient: private sas::Object
* @param topic_prefix Topic name prefix used for subscriptions and
* publications.
*/
RobotKinematicsClient(const std::shared_ptr<Node> &node, const std::string& topic_prefix);
RobotKinematicsClient(const std::shared_ptr<rclcpp::Node> &node, const std::string& topic_prefix);

/**
* @brief Check whether the client is enabled (subscribers/publishers active).
Expand Down
13 changes: 6 additions & 7 deletions include/sas_robot_kinematics/sas_robot_kinematics_server.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,6 @@
#include <sas_core/sas_object.hpp>
#include <sas_msgs/msg/float64.hpp>

using namespace rclcpp;
using namespace DQ_robotics;

namespace sas
Expand All @@ -48,17 +47,17 @@ namespace sas
class RobotKinematicsServer: private sas::Object
{
protected:
std::shared_ptr<Node> node_;
std::shared_ptr<rclcpp::Node> node_;

std::atomic_bool enabled_;
const std::string topic_prefix_;

Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr publisher_pose_;
Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr publisher_reference_frame_;
rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr publisher_pose_;
rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr publisher_reference_frame_;

Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr subscriber_desired_pose_;
rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr subscriber_desired_pose_;
DQ desired_pose_;
Subscription<sas_msgs::msg::Float64>::SharedPtr subscriber_desired_interpolator_speed_;
rclcpp::Subscription<sas_msgs::msg::Float64>::SharedPtr subscriber_desired_interpolator_speed_;
double desired_interpolator_speed_;

void _callback_desired_pose(const geometry_msgs::msg::PoseStamped& msg);
Expand All @@ -79,7 +78,7 @@ class RobotKinematicsServer: private sas::Object
* @param topic_prefix Topic name prefix used for subscriptions and
* publications.
*/
RobotKinematicsServer(const std::shared_ptr<Node>& node, const std::string& topic_prefix);
RobotKinematicsServer(const std::shared_ptr<rclcpp::Node>& node, const std::string& topic_prefix);

/**
* @brief Get the most recently received desired pose.
Expand Down
2 changes: 1 addition & 1 deletion src/sas_robot_kinematics_client.cpp
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Expand Up @@ -53,7 +53,7 @@ void RobotKinematicsClient::_callback_reference_frame(const geometry_msgs::msg::
//}
//#endif

RobotKinematicsClient::RobotKinematicsClient(const std::shared_ptr<Node> &node, const std::string &topic_prefix):
RobotKinematicsClient::RobotKinematicsClient(const std::shared_ptr<rclcpp::Node> &node, const std::string &topic_prefix):
sas::Object("RobotKinematicsClient"),
node_(node),
enabled_(false),
Expand Down
2 changes: 1 addition & 1 deletion src/sas_robot_kinematics_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ void RobotKinematicsServer::_callback_desired_interpolator_speed(const sas_msgs:
//}
//#endif

RobotKinematicsServer::RobotKinematicsServer(const std::shared_ptr<Node> &node, const std::string &topic_prefix):
RobotKinematicsServer::RobotKinematicsServer(const std::shared_ptr<rclcpp::Node> &node, const std::string &topic_prefix):
sas::Object("RobotKinematicsServer"),
node_(node),
enabled_(false),
Expand Down
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